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[190] Citation: Abstract
Several criteria exist for determining the optimal design for a surgical
robot. This paper considers kinematic performance metrics, which reward good
kinematic performance, and dynamic performance metrics, which penalize poor
dynamic performance. Kinematic and dynamic metrics are considered independently,
and then combined to produce hybrid metrics. For each metric, the optimal
design is the one that maximizes the performance metric over a specific design
space. In the case of a 2-DOF spherical mechanism for a surgical robot, the
optimal design determined by kinematic metrics is a robot arm with link angles
( alpha_12 = 90deg, alpha_23 = 90deg). The large link angles are the most dextrous, but have
the greatest risk of robot-robot or robot-patient collisions and require the largest
actuators. The link lengths determined by the dynamic metrics are much shorter,
which reduces the risk of collisions, but tend to place the robot in singularities
much more frequently. When the hybrid metrics are used, and a restriction that the
arm must be able to reach a human’s entire abdomen, the optimal design is around
( alpha_12 = 51deg, alpha_23 = 54deg). The hybrid design provides a compromise between
dexterity and compactness.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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